'start_controllers' field is deprecated, use 'activate_controllers' field instead!

asked 2022-09-30 04:15:29 -0500

LucB gravatar image

updated 2022-09-30 04:37:26 -0500

When i start 

 ros2 launch ur_robot_driver ur_control.launch.py ur_type:=ur5e robot_ip:=172.17.0.2

and launch the external control file in my ur-sim, i get the warning

[ur_ros2_control_node-1] [WARN] [1664528394.462632704] [controller_manager]: 'start_controllers' field is deprecated, use 'activate_controllers' field instead!

How to solve this?

edit retag flag offensive close merge delete

Comments

Because it is a warning, you can ignore it, and the robot should work fine.

ravijoshi gravatar image ravijoshi  ( 2022-09-30 06:16:38 -0500 )edit

Thanks for answering. Looks like i have another problem then. When i afterwards run $ ros2 launch ur_robot_driver test_joint_trajectory_controller.launch.py

i get following warning: $ [publisher_joint_trajectory_controller-1] [WARN] [1664537860.252293228][publisher_joint_trajectory_controller]: Start configuration is not within configured limits!

LucB gravatar image LucB  ( 2022-09-30 07:03:52 -0500 )edit

I suspect your joint angles are outside the range. For example, you moved the robot arm manually, which unknowingly made the current configuration invalid. Either move the arm back or change the joint angle configurations.

ravijoshi gravatar image ravijoshi  ( 2022-09-30 07:39:48 -0500 )edit
add a comment